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Conception et contrôle de robots à géométrie variable : applications au franchissement d'obstacles autonome

Abstract : This work focuses on mobile robotics. An innovative variable geometry vehicle able to pass over several obstacles (staircase, curb...) is presented and analysed. Experiment feedbacks provide some clues to evolve into a fully autonomous robot. A study about the deformation of a robot equipped with n degrees of freedom is presented and formalised as a constraints satisfaction problem. The aim is to provide a way to change the shape of the robot while keeping the tracks tightened. Interval analysis tools are used to propose a solution. An other variable geometry robot control method is then studied to lead to autonomous staircase climbing. A neural network is trained through a genetic algorithm in order to climb a staircase autonomously. Our prototype is used to validate those results.
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https://tel.archives-ouvertes.fr/tel-00589292
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Submitted on : Thursday, April 28, 2011 - 2:27:54 PM
Last modification on : Tuesday, May 7, 2019 - 6:30:06 PM
Long-term archiving on: : Thursday, November 8, 2012 - 5:31:35 PM

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  • HAL Id : tel-00589292, version 1

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Jean-Luc Paillat. Conception et contrôle de robots à géométrie variable : applications au franchissement d'obstacles autonome. Automatique / Robotique. Université d'Angers, 2010. Français. ⟨tel-00589292⟩

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